ros::spin()
和ros::spinOnce()
都是在订阅主题的时候使用的,区别在于ros::spinOnce()
在完成订阅后直接返回,而ros::spin()
会一直阻塞直到程序终结。
下面是两个例子:
ros::spinOnce()
ros::Rate r(10); // 10 hz
while (should_continue)
{
... do some work, publish some messages, etc. ...
ros::spinOnce();
r.sleep();
}
ros::spin()
ros::init(argc, argv, "my_node");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe(...);
...
ros::spin();
参考链接:http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning